CN109159119A - Method for controlling robot, device, storage medium and electronic equipment - Google Patents
Method for controlling robot, device, storage medium and electronic equipment Download PDFInfo
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- CN109159119A CN109159119A CN201811029088.4A CN201811029088A CN109159119A CN 109159119 A CN109159119 A CN 109159119A CN 201811029088 A CN201811029088 A CN 201811029088A CN 109159119 A CN109159119 A CN 109159119A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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Abstract
The embodiment of the present invention provides a kind of method for controlling robot, device, storage medium and electronic equipment, the method for controlling robot, when comprisining the steps of detecting that crawl signal, the depth of field picture for the collected workpiece to be captured of depth of field camera being arranged on mechanical arm is obtained；Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field picture is obtained according to the depth of field picture, multiple characteristic parameter includes the distance between form parameter and the preset reference point of the workpiece in depth of field picture parameter；The relative positional relationship between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value；The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；Relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the workpiece depending on that relative position.The present invention has the beneficial effect for improving crawl efficiency, crawl flexibility ratio and accuracy.
Description
Technical field
The present invention relates to field of communication technology, in particular to a kind of method for controlling robot, device, storage medium and electronics
Equipment.
Background technique
Existing industrial robot can only orient grabbing workpiece, can not accomplish after the location of workpiece changes, corresponding to change
Itself control program realizes workpiece grabbing.
Therefore, the prior art is defective, needs to improve.
Summary of the invention
The embodiment of the present application provides a kind of method for controlling robot, device, storage medium and electronic equipment, and work can be improved
Part grabs flexibility.
The embodiment of the present application provides a kind of method for controlling robot, comprising the following steps:
When detecting crawl signal, the depth of field for the collected workpiece to be captured of depth of field camera being arranged on mechanical arm is obtained
Picture；
Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field picture is obtained according to the depth of field picture, it is multiple
Characteristic parameter includes the distance between form parameter and the preset reference point of the workpiece in depth of field picture parameter；
The relative positional relationship between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value；
The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；
Relationship and the distance value control the mechanical arm and the grasping mechanism are moved to correspondence depending on that relative position
Position is to grab the workpiece.
It is described to obtain the workpiece according to multiple characteristic ginseng value and be somebody's turn to do in method for controlling robot of the present invention
Before the step of relative positional relationship between mechanical arm depth of field camera further include: judge that this is to be captured according to the depth of field picture
The information of workpiece；
It is described that the pass of relative position between the workpiece and the mechanical arm depth of field camera is obtained according to multiple characteristic ginseng value
The step of being include:
Wait for that the model database that the information inquiry of grabbing workpiece pre-establishes is closed to obtain corresponding model according to this
It is group；
It is to be captured that this is inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between workpiece and the mechanical arm depth of field camera.
In method for controlling robot of the present invention, the depth of view information carried according to the depth of field picture obtains should
The step of the distance between workpiece and the grasping mechanism value includes:
The workpiece is extracted from the depth of field picture to obtain the depth map of the workpiece；
The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information in the depth map.
It is described according to the depth of view information acquisition in the depth map in method for controlling robot of the present invention
The step of the distance between workpiece and the grasping mechanism value includes:
The depth of view information of multiple presets is obtained from the depth map, and is obtained according to the depth of view information of multiple preset
Multiple preset first distance value apart from the depth of field camera respectively；
The distance between the workpiece and the grasping mechanism value are calculated according to multiple first distance value.
Moment is arranged in method for controlling robot of the present invention, at the grasping mechanism of the mechanical arm front end to pass
Sensor；It is characterized in that, the relationship depending on that relative position and the distance value control the mechanical arm for the gripper
Structure is moved to the step of corresponding position is to grab the workpiece and includes:
The information of relationship, distance value and the workpiece to be captured generates control signal depending on the relative position, should
Control signal for control the mechanical arm be moved to corresponding position and control the grasping mechanism with corresponding grasp force come grab to
The workpiece of crawl.
In method for controlling robot of the present invention, the depth of field camera is set to the center of the grasping mechanism
Centre.
A kind of crawl control device, comprising:
First obtains module, for obtaining the depth of field camera being arranged on mechanical arm and collecting when detecting crawl signal
Workpiece to be captured depth of field picture；
Second obtains module, for obtaining preset multiple characteristic parameters in the depth of field picture according to the depth of field picture
Characteristic ginseng value；
Third obtains module, for obtained according to multiple characteristic ginseng value the workpiece and the mechanical arm grasping mechanism it
Between relative positional relationship；
4th obtains module, and the depth of view information for being carried according to the depth of field picture obtains the workpiece and the grasping mechanism
The distance between value；
Control module controls the mechanical arm for the gripper for relationship depending on that relative position and the distance value
Structure is moved to corresponding position to grab the workpiece.
In crawl control device of the present invention, further includes: judgment module, for being somebody's turn to do according to depth of field picture judgement
The information of workpiece to be captured；
The third obtains module
First query unit, for according to should to grabbing workpiece information model database for pre-establishing of inquiry with
Obtain corresponding relationship model group；
Second query unit, for according to multiple characteristic ginseng value from multiple relationship models in the relationship model group
Inquire the relative positional relationship between the workpiece to be captured and the mechanical arm depth of field camera.
In crawl control device of the present invention, the described 4th, which obtains module, is used for the workpiece from the depth of field
It is extracted in picture to obtain the depth map of the workpiece；The workpiece and institute are obtained according to the depth of view information in the depth map
State the distance between grasping mechanism value.
A kind of storage medium is stored with computer program in the storage medium, when the computer program is in computer
When upper operation, so that the computer executes method described in any of the above embodiments.
A kind of electronic equipment, including processor and memory are stored with computer program, the processing in the memory
Device is by calling the computer program stored in the memory, for executing method described in any of the above embodiments.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting crawl signal and collecting
Workpiece to be captured depth of field picture；Preset multiple characteristic parameters are obtained in the depth of field picture according to the depth of field picture
Characteristic ginseng value；The relative position between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value to close
System；The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；According to described
Relative positional relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the work
Part can grab the workpiece as the location of workpiece changes accurate working medium robot, have the accuracy for improving crawl and
The beneficial effect of flexibility.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described.It should be evident that the drawings in the following description are only some examples of the present application, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the flow chart of the method for controlling robot in some embodiments of the invention.
Fig. 2 is the structure chart of the crawl control device in some embodiments of the invention.
Fig. 3 is the structure chart of the electronic equipment in some embodiments of the invention.
Specific embodiment
Presently filed embodiment is described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
In the description of the present application, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
It describes the application and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second " are only used for
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of indicated technical characteristic.
" first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more feature.?
In the description of the present application, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
In this application unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize the different structure of the application.In order to
Simplify disclosure herein, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And purpose does not lie in limitation the application.In addition, the application can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, this application provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
The description and claims of this application and term " first " in above-mentioned attached drawing, " second ", " third " etc.
(if present) is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be appreciated that this
The object of sample description is interchangeable under appropriate circumstances.In addition, term " includes " and " having " and their any deformation, meaning
Figure, which is to cover, non-exclusive includes.For example, containing the process, method of series of steps or containing a series of modules or list
The device of member, terminal, system those of are not necessarily limited to be clearly listed step or module or unit, can also include unclear
The step of ground is listed or module or unit also may include its intrinsic for these process, methods, device, terminal or system
Its step or module or unit.
The present invention provides a kind of method for controlling robot, it is mainly used to control manipulator grabbing workpiece.This method includes
Following steps: when detecting crawl signal, the scape for the collected workpiece to be captured of depth of field camera being arranged on mechanical arm is obtained
Deep picture；Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field picture is obtained according to the depth of field picture；According to this
Multiple characteristic ginseng values obtain the relative positional relationship between the workpiece and the grasping mechanism of the mechanical arm；According to the depth of field picture
The depth of view information of carrying obtains the distance between the workpiece and the grasping mechanism value；Relationship and institute depending on that relative position
It states distance value and controls the mechanical arm and the grasping mechanism is moved to corresponding position to grab the workpiece.With reference to the accompanying drawing to this
Method for controlling robot describes in detail.
Fig. 1 is please referred to, Fig. 1 is the flow chart of one of some embodiments of the invention method for controlling robot, this method
The following steps are included:
S101, when detecting crawl signal, the collected workpiece to be captured of depth of field camera that is arranged on mechanical arm is obtained
Depth of field picture.
Wherein, it when detecting crawl signal, needs to open light source module and carries out light filling, depth of field camera is shot
To being more clear bright depth of field picture.The depth of field picture not only has the information such as the color shape of the workpiece, also has the work
The depth of view information of part, the depth of view information can be used to obtain distance value.The depth of field camera is being set to the grasping mechanism just
Center.
S102, characteristic ginseng value of the preset multiple characteristic parameters in the depth of field picture is obtained according to the depth of field picture,
Multiple characteristic parameter includes the distance between form parameter and the preset reference point of the workpiece in depth of field picture parameter.
Wherein, this feature parameter can be the length and width higher size parameter or form parameter of the workpiece, color parameter
Deng.Since often feature is different for different workpiece, to extract the characteristic parameter that can most show the workpiece features, setting
The information that the default workpiece is just needed to refer to when determining characteristic parameter, needs to preset the information of workpiece according to this to select
Multiple parameters are as characteristic parameter.In the case where for known workpiece information, can directly the workpiece information choosing
The characteristic parameter for needing the depth of field picture extracted is selected, after the characteristic ginseng value which characteristic parameter determination will extract, so that it may
The characteristic ginseng value of this feature parameter is extracted from the depth of field picture quickly.
Multiple characteristic parameter includes the distance between form parameter and preset reference point of the workpiece in depth of field picture
Parameter.Wherein, which that is to say profile information of the workpiece in the depth map.Multiple preset is according to different
Workpiece type is set.For example, for some rectangular workpiece, it is right using multiple vertex and central point as preset
Then obtain starting point and terminal on longest length direction line in the workpiece of round or ellipse, and with the length direction line
Perpendicular bisector starting point and starting point and terminal as the preset.Since workpiece is under different angle, in some spies
The distance between fixed point be it is different, therefore, by being after the distance between preset value is convenient for by this feature parameter setting
The continuous angle information that workpiece is precisely calculated.
In some embodiments, the workpiece to be captured be unknown work piece in the case where, execute step S102 it
Before, it is also necessary to it executes: obtaining the information of the workpiece to be captured according to the depth of field picture.Picture recognition technology can be used
Identify the information of the workpiece, it can also be by the way of being manually entered.
S103, the relative position between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value
Relationship.
In this step, which is the model data established in above-described embodiment using robotics learning method
Library.In order to improve efficiency, in some embodiments, step S103 includes:
The model database that S1031, basis should be pre-established to the information inquiry of grabbing workpiece is corresponding to obtain
Relationship model group；S1032, this is inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between workpiece to be captured and the mechanical arm depth of field camera.
Wherein, the relative positional relationship include mechanical arm depth of field camera or the mechanical arm front end grasping mechanism with wait grab
The distance between workpiece taken value and relative bearing relationship.
S104, the distance between the workpiece and the grasping mechanism are obtained according to the depth of view information that the depth of field picture carries
Value.
In this step, first the workpiece is extracted from the depth of field picture to obtain the depth map of the workpiece；
The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information in the depth map.Wherein, how root
Distance value, which is calculated, according to depth of view information belongs to existing algorithm.But since there may be alternate position spikes for depth of field camera and grasping mechanism
It is different, it is therefore desirable to carry out compensation data.
In some embodiments, which obtains the workpiece and the crawl according to the depth of view information in the depth map
The distance between mechanism value includes:
The depth of view information of multiple presets is obtained from the depth map, and is obtained according to the depth of view information of multiple preset
Multiple preset first distance value apart from the depth of field camera respectively；The workpiece is calculated according to multiple first distance value
The distance between described grasping mechanism value.
Wherein, the multiple preset in the preset is set according to different workpiece types.For example, for some rectangular
Workpiece longest length is then obtained for the workpiece of round or ellipse using multiple vertex and central point as preset
Spend direction line on starting point and terminal, and with the starting point of the perpendicular bisector of the length direction line and starting point and terminal conduct
The preset.Due to workpiece and irregular plate structure, the distance of different position distance manipulator are different.Cause
This often takes multiple presets of workpiece distance value apart from the depth of field camera respectively, then basis for the ease of crawl
These distance values find out average distance value, so that it may accurately calculate the distance between the workpiece and the grasping mechanism
Value.Have the effect of improving counting accuracy, and it is possible to reduce since the local polymorphic structure of workpiece is produced to distance value is calculated
Raw error influences.
S105, depending on that relative position relationship and the distance value control the mechanical arm and are moved to the grasping mechanism
Corresponding position is to grab the workpiece.
In this step, relationship and the distance value generate control signal, the control signal depending on that relative position
Include that the mechanical arm needs angle and range data mobile or rotate, allows the mechanical arm by the grasping mechanism
It is moved at the workpiece to be captured.
In some embodiments, torque sensor is provided at the grasping mechanism of the mechanical arm front end；Step S105 packet
Include: the information of relationship, distance value and the workpiece to be captured generates control signal, control letter depending on the relative position
Number for controlling, the mechanical arm is moved to corresponding position and to control the grasping mechanism to be captured to grab with corresponding grasp force
Workpiece.And in the process of grasping, torque sensor meeting real-time feedback data gives the electronic equipment.For different types of work
Part, since the intensity and weight of the workpiece are all different, it is therefore desirable to which the grasp force of application is not also identical, can be to avoid damage
Workpiece also can guarantee that workpiece is not fallen out.
Specifically, relationship and the information of the workpiece to be captured generate control letter to the step depending on the relative position
It number include: according to the weight information of the information of the workpiece or the workpiece, external form information and material information；According to the work
Weight information, external form information and the material information of part calculate specified grasp force；
Relationship generates mobile control parameter information depending on the relative position, according to the movement control parameter information and specified
Grasp force generates control signal, allows the mechanical arm that the grasping mechanism is moved to corresponding position and with the specified grasp force
To grab the workpiece.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting crawl signal and collecting
Workpiece to be captured depth of field picture；Preset multiple characteristic parameters are obtained in the depth of field picture according to the depth of field picture
Characteristic ginseng value；The relative position between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value to close
System；The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；According to described
Relative positional relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the work
Part can grab the workpiece as the location of workpiece changes accurate working medium robot, have the accuracy for improving crawl and
The beneficial effect of flexibility.
Referring to figure 2., Fig. 2 is the structure chart of one of some embodiments of the invention crawl control device, the device packet
Include: first, which obtains module 201, second, obtains module 202, third acquisition module 203 the 4th acquisition module 204 and control module
205。
Wherein, which is used to obtain the depth of field phase being arranged on mechanical arm when detecting crawl signal
The depth of field picture of the collected workpiece to be captured of machine.Wherein, when detecting crawl signal, need to open light source module progress
Light filling takes depth of field camera and is more clear bright depth of field picture.
Wherein, which is used to obtain preset multiple characteristic parameters in the scape according to the depth of field picture
Characteristic ginseng value in deep picture.Wherein, this feature parameter can be length and width higher size parameter or the shape ginseng of the workpiece
Number, color parameter etc..Since often feature is different for different workpiece, to extract the spy that can most show the workpiece features
Parameter is levied, the information of the default workpiece is just needed to refer to when setting characteristic parameter, needs to preset the kind of workpiece according to this
Category information selects the multiple parameters as characteristic parameter.It, can the direct workpiece in the case where for known workpiece information
The information selection characteristic parameter of the depth of field picture that needs to extract, to extract the feature ginseng of which characteristic parameter in determination
After numerical value, so that it may extract the characteristic ginseng value of this feature parameter from the depth of field picture quickly.Multiple characteristic parameter packet
Include the distance between form parameter and the preset reference point of the workpiece in depth of field picture parameter.Wherein, the form parameter namely
It is profile information of the workpiece in the depth map.Multiple preset is set according to different workpiece types.For example, right
The workpiece of round or ellipse is then obtained using multiple vertex and central point as preset in some rectangular workpiece
Take the starting point and terminal on longest length direction line, and with the starting point of the perpendicular bisector of the length direction line and starting point with
And terminal is as the preset.
Wherein, which obtains module 203 and is used to obtain the workpiece and the mechanical arm scape according to multiple characteristic ginseng value
Relative positional relationship between deep camera.The model database is the mould established in above-described embodiment using robotics learning method
Type database.In order to improve efficiency, in some embodiments, it includes: first acquisition unit which, which obtains module 303, is used for
Wait for that the information of grabbing workpiece inquires the model database pre-established to obtain corresponding relationship model group according to this；Inquiry
Unit, it is to be captured for inquiring this from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between workpiece and the mechanical arm depth of field camera.Wherein, which includes mechanical arm depth of field phase
Machine or the distance between the grasping mechanism of the mechanical arm front end and workpiece to be captured value and relative bearing relationship.
4th acquisition module 204 is used to obtain the workpiece and the crawl according to the depth of view information that the depth of field picture carries
The distance between mechanism value.First the workpiece is extracted from the depth of field picture to obtain the depth map of the workpiece；Root
The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information in the depth map.Wherein, how basis
Depth of view information calculates distance value and belongs to existing algorithm.But since depth of field camera and grasping mechanism are there may be position difference,
Therefore it needs to carry out compensation data.In some embodiments, the 4th acquisition module 204 is according to the scape in the depth map
Following methods are specifically used when the distance between workpiece described in deep acquisition of information and the grasping mechanism value: being obtained from the depth map
The depth of view information of multiple presets is taken, and multiple preset is obtained respectively apart from institute according to the depth of view information of multiple preset
State the first distance value of depth of field camera；According to multiple first distance value calculate between the workpiece and the grasping mechanism away from
From value.
Wherein, the multiple preset in the preset is set according to different workpiece types.For example, for some rectangular
Workpiece longest length is then obtained for the workpiece of round or ellipse using multiple vertex and central point as preset
Spend direction line on starting point and terminal, and with the starting point of the perpendicular bisector of the length direction line and starting point and terminal conduct
The preset.
Wherein, the control module 205 is for relationship and the distance value to control the mechanical arm depending on that relative position
The grasping mechanism is moved to corresponding position to grab the workpiece.Relationship and the distance value are raw depending on that relative position
At control signal, which includes that the mechanical arm needs angle and range data mobile or rotate, so that should
The grasping mechanism can be moved at the workpiece to be captured by mechanical arm.
In some embodiments, torque sensor is provided at the grasping mechanism of the mechanical arm front end；The control module 205
For: relationship and the information of the workpiece to be captured generate control signal depending on the relative position, which uses
Workpiece to be captured is grabbed with corresponding grasp force in controlling the mechanical arm and being moved to corresponding position and control the grasping mechanism.
And in the process of grasping, torque sensor meeting real-time feedback data gives the electronic equipment.For different types of workpiece, by
Be all different in the intensity and weight of the workpiece, it is therefore desirable to the grasp force of application is not also identical, can to avoid defective work piece,
Also it can guarantee that workpiece is not fallen out.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting crawl signal and collecting
Workpiece to be captured depth of field picture；Preset multiple characteristic parameters are obtained in the depth of field picture according to the depth of field picture
Characteristic ginseng value；The relative position between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value to close
System；The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；According to described
Relative positional relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the work
Part can grab the workpiece as the location of workpiece changes accurate working medium robot, have the accuracy for improving crawl and
The beneficial effect of flexibility.
The embodiment of the present invention also provides a kind of storage medium, is stored with computer program in the storage medium, when the calculating
When machine program is run on computers, which executes the human face expression described in any of the above-described embodiment based on speech recognition
Trailing, to realize following functions: when detecting crawl signal, it is collected to obtain the depth of field camera being arranged on mechanical arm
The depth of field picture of workpiece to be captured；Spy of the preset multiple characteristic parameters in the depth of field picture is obtained according to the depth of field picture
Levy parameter value；The relative position between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value to close
System；The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；According to described
Relative positional relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the work
Part.
Referring to figure 3., the embodiment of the present invention also provides a kind of electronic equipment.The electronic equipment can be smart phone, put down
Plate apparatus such as computer.Such as show, electronic equipment 300 includes processor 301 and memory 302.Wherein, processor 301 and memory
302 are electrically connected.Processor 301 is the control centre of electronic equipment 300, utilizes various interfaces and the entire terminal of connection
Various pieces, by running or calling the computer program being stored in memory 302, and calling to be stored in memory 302
Interior data execute the various functions and processing data of terminal, to carry out integral monitoring to terminal.
In the present embodiment, processor 301 in electronic equipment 300 can according to following step, by one or one with
On the corresponding instruction of process of computer program be loaded into memory 302, and run by processor 301 and be stored in storage
Computer program in device 302, to realize various functions: when detecting crawl signal, obtaining the depth of field being arranged on mechanical arm
The depth of field picture of the collected workpiece to be captured of camera；Preset multiple characteristic parameters are obtained in the scape according to the depth of field picture
Characteristic ginseng value in deep picture；It is obtained between the workpiece and the grasping mechanism of the mechanical arm according to multiple characteristic ginseng value
Relative positional relationship；The distance between the workpiece and the grasping mechanism are obtained according to the depth of view information that the depth of field picture carries
Value；Depending on that relative position relationship and the distance value control the mechanical arm by the grasping mechanism be moved to corresponding position with
Grab the workpiece.
Memory 302 can be used for storing computer program and data.Include in the computer program that memory 302 stores
The instruction that can be executed in the processor.Computer program can form various functional modules.Processor 301 is stored in by calling
The computer program of memory 302, thereby executing the control method of various robots.
From the foregoing, it will be observed that obtaining the depth of field camera being arranged on mechanical arm when the present invention is by detecting crawl signal and collecting
Workpiece to be captured depth of field picture；Preset multiple characteristic parameters are obtained in the depth of field picture according to the depth of field picture
Characteristic ginseng value；The relative position between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value to close
System；The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；According to described
Relative positional relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position to grab the work
Part can grab the workpiece as the location of workpiece changes accurate working medium robot, have the accuracy for improving crawl and
The beneficial effect of flexibility.
It should be noted that those of ordinary skill in the art will appreciate that whole in the various methods of above-described embodiment or
Part steps are relevant hardware can be instructed to complete by program, which can store in computer-readable storage medium
In matter, which be can include but is not limited to: read-only memory (ROM, Read Only Memory), random access memory
Device (RAM, Random Access Memory), disk or CD etc..
Above to robotics learning method, control method, device, storage medium and electronics provided by the embodiment of the present application
Equipment is described in detail, and specific examples are used herein to illustrate the principle and implementation manner of the present application, with
The explanation of upper embodiment is merely used to help understand the present processes and its core concept；Meanwhile for the technology of this field
Personnel, according to the thought of the application, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as the limitation to the application.
Claims (10)
1. a kind of method for controlling robot, which comprises the following steps:
When detecting crawl signal, the depth map for the collected workpiece to be captured of depth of field camera being arranged on mechanical arm is obtained
Piece；
Characteristic ginseng value of the preset multiple characteristic parameters in the depth of field picture, multiple feature are obtained according to the depth of field picture
Parameter includes the distance between form parameter and the preset reference point of the workpiece in depth of field picture parameter；
The relative positional relationship between the workpiece and the grasping mechanism of the mechanical arm is obtained according to multiple characteristic ginseng value；
The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information that the depth of field picture carries；
Relationship and the distance value control the mechanical arm and the grasping mechanism are moved to corresponding position depending on that relative position
To grab the workpiece.
2. method for controlling robot according to claim 1, which is characterized in that described to be obtained according to multiple characteristic ginseng value
Before the step of taking the relative positional relationship between the workpiece and the mechanical arm depth of field camera further include: sentenced according to the depth of field picture
Break the information of the workpiece to be captured；
It is described that relative positional relationship between the workpiece and the mechanical arm depth of field camera is obtained according to multiple characteristic ginseng value
Step includes:
Wait for that the information of grabbing workpiece inquires the model database pre-established to obtain corresponding relationship model group according to this；
The workpiece to be captured is inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
With the relative positional relationship between the mechanical arm depth of field camera.
3. method for controlling robot according to claim 2, which is characterized in that the scape carried according to the depth of field picture
The step of the distance between the deep acquisition of information workpiece and the grasping mechanism value includes:
The workpiece is extracted from the depth of field picture to obtain the depth map of the workpiece；
The distance between the workpiece and the grasping mechanism value are obtained according to the depth of view information in the depth map.
4. method for controlling robot according to claim 3, which is characterized in that the depth of field according in the depth map
The step of the distance between workpiece described in acquisition of information and the grasping mechanism value includes:
The depth of view information of multiple presets is obtained from the depth map, and it is more according to the depth of view information of multiple preset to obtain this
A preset first distance value apart from the depth of field camera respectively；
The distance between the workpiece and the grasping mechanism value are calculated according to multiple first distance value.
5. method for controlling robot according to claim 3, moment is set at the grasping mechanism of the mechanical arm front end
Sensor；It is characterized in that, the relationship depending on that relative position and the distance value control the mechanical arm for the crawl
Mechanism is moved to the step of corresponding position is to grab the workpiece and includes:
The information of relationship, distance value and the workpiece to be captured generates control signal, the control depending on the relative position
Signal is moved to corresponding position and controls the grasping mechanism for controlling the mechanical arm and grabbed with corresponding grasp force wait grab
Workpiece.
6. a kind of crawl control device characterized by comprising
First obtains module, for when detecting crawl signal, obtain the depth of field camera that is arranged on mechanical arm it is collected to
The depth of field picture of the workpiece of crawl；
Second obtains module, for obtaining feature of the preset multiple characteristic parameters in the depth of field picture according to the depth of field picture
Parameter value, multiple characteristic parameter include the distance between form parameter and preset reference point of the workpiece in the depth of field picture ginseng
Number；
Third obtains module, for being obtained between the workpiece and the grasping mechanism of the mechanical arm according to multiple characteristic ginseng value
Relative positional relationship；
4th obtains module, and the depth of view information for being carried according to the depth of field picture obtains between the workpiece and the grasping mechanism
Distance value；
Control module controls the mechanical arm for relationship depending on that relative position and the distance value and moves the grasping mechanism
It moves to corresponding position to grab the workpiece.
7. crawl control device according to claim 6, which is characterized in that further include: judgment module, for according to the scape
Deep picture judges the information of the workpiece to be captured；
The third obtains module
First query unit, the model database for being pre-established according to the information inquiry being somebody's turn to do to grabbing workpiece is to obtain
Corresponding relationship model group；
Second query unit, for being inquired from multiple relationship models in the relationship model group according to multiple characteristic ginseng value
Relative positional relationship between the workpiece to be captured and the mechanical arm depth of field camera out.
8. crawl control device according to claim 6, which is characterized in that the described 4th, which obtains module, is used for the work
Part is extracted from the depth of field picture to obtain the depth map of the workpiece；It is obtained according to the depth of view information in the depth map
The distance between the workpiece and the grasping mechanism value.
9. a kind of storage medium, which is characterized in that computer program is stored in the storage medium, when the computer program
When running on computers, so that the computer perform claim requires 1 to 5 described in any item methods.
10. a kind of electronic equipment, which is characterized in that including processor and memory, computer journey is stored in the memory
Sequence, the processor require 1 to 5 by calling the computer program stored in the memory, for perform claim
Method described in one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811029088.4A CN109159119A (en) | 2018-09-05 | 2018-09-05 | Method for controlling robot, device, storage medium and electronic equipment |
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| CN201811029088.4A CN109159119A (en) | 2018-09-05 | 2018-09-05 | Method for controlling robot, device, storage medium and electronic equipment |
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| CN110738793A (en) * | 2019-10-22 | 2020-01-31 | 刘惠敏 | Grabbing platform, method and storage medium based on section data detection |
| CN112098137A (en) * | 2020-08-05 | 2020-12-18 | 湖南华菱涟源钢铁有限公司 | Automatic steel plate sampling method and automatic steel plate sampling system |
| CN113753562A (en) * | 2021-08-24 | 2021-12-07 | 深圳市长荣科机电设备有限公司 | Carrying method, system and device based on linear motor and storage medium |
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Application publication date: 20190108 |